东北大学学报(自然科学版) ›› 2025, Vol. 46 ›› Issue (4): 52-60.DOI: 10.12068/j.issn.1005-3026.2025.20230294

• 机械工程 • 上一篇    下一篇

输电线巡检机器人越障工况下基座旋转关节性能分析

李小彭1, 刘海龙1, 樊星1, 石冰2   

  1. 1.东北大学 机械工程与自动化学院,辽宁 沈阳 110819
    2.宁夏理工学院 机械工程学院,宁夏 石嘴山 753000
  • 收稿日期:2023-10-23 出版日期:2025-04-15 发布日期:2025-07-01
  • 作者简介:李小彭(1976—),男,江西宁都人,东北大学教授,博士生导师.
  • 基金资助:
    宁夏回族自治区自然科学基金资助项目(2023AAC03374)

Performance Analysis of Base Rotational Joint Under Obstacle Crossing Condition for Transmission Line Inspection Robot

Xiao-peng LI1, Hai-long LIU1, Xing FAN1, Bing SHI2   

  1. 1.School of Mechanical Engineering & Automation,Northeastern University,Shenyang 110819,China
    2.School of Mechanical Engineering,Ningxia Institute of Technology,Shizuishan 753000,China. Corresponding author: LI Xiao-peng,E-mail: xpli@me. neu. edu. cn
  • Received:2023-10-23 Online:2025-04-15 Published:2025-07-01

摘要:

影响机器人越障性能的主要因素之一是行走臂基座旋转关节.为了提升机器人在越障工况下的行走性能,提出了一种基座旋转关节主动调节方法.首先建立了机器人基座旋转关节的双惯量动力学模型,基于该模型采用线性二次调节器(linear quadratic regulator,LQR)控制理论设计了关节控制器.对比发现基座旋转关节性能主要由权系数矩阵 QcRc决定,使用遗传算法对关节控制器系数矩阵中的参数进行优化,并通过对比分析优化效果,找到最佳方案来提升机器人在越障工况下的行走性能.最后进行了多关节双臂巡检机器人的越障实验,结果表明,经优化参数后的关节控制器能更好地控制机器人完成越障任务.

关键词: 双臂巡检机器人, 动力学模型, 关节控制, 遗传算法, 性能分析

Abstract:

One of the main factors affecting the obstacle crossing performance is the base rotation joint of the walking arms. To improve the walking performance of the robot under the obstacle crossing conditions, an active adjustment method of the base rotation joint was proposed. Firstly, a dual-inertia dynamic model of the base rotation joint was established, and a joint controller was designed based on linear quadratic regulator (LQR) control theory. Through comparison, it is found that the performance of the base rotation joint is mainly determined by the weight coefficient matrices Qc and Rc. Genetic algorithm is used to optimize the parameters in the coefficient matrices of the joint controller, and the optimization results are compared and analyzed to find the best scheme to improve the walking performance of the robot under obstacle crossing condition. Finally, the obstacle crossing experiment of the multi-joint double-arm inspection robot is carried out, and the results showed that the joint controller with optimized parameters can better control the robot to complete obstacle crossing tasks.

Key words: dual-arm inspection robot, dynamic modeling, joint control, genetic algorithm, performance analysis

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